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1
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id
1.
I
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I
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to
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p
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s
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co
n
tr
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l
an
d
m
o
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i
to
r
in
g
[
1
]
,
[
2
]
.
Am
o
n
g
v
ar
io
u
s
a
ctu
atio
n
tech
n
o
lo
g
ie
s
,
p
n
eu
m
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tr
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s
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p
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au
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m
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ca
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p
ar
ticu
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an
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atr
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p
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s
[
3
]
.
I
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lab
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p
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P
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ased
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[
4
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.
Ho
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p
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tan
t
i
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m
o
d
er
n
au
to
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s
y
s
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m
s
[
5
]
.
T
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is
li
m
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tio
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cr
ea
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p
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ap
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tu
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ts
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is
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tr
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it
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in
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ated
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to
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p
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in
I
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s
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4
.
0
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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6930
T
E
L
KOM
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K
A
T
elec
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m
m
u
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C
o
m
p
u
t E
l
C
o
n
tr
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l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
7
9
-
1794
1780
T
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m
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tech
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s
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ti
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it
y
[
6
]
.
T
h
e
in
te
g
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n
o
f
I
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T
w
ith
P
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a
n
d
HM
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s
y
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s
allo
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s
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ce
s
s
v
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m
s
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o
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y
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s
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A
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r
esear
ch
s
p
ec
i
f
icall
y
ad
d
r
ess
i
n
g
t
h
e
d
ev
elo
p
m
en
t
o
f
a
n
I
o
T
-
in
te
g
r
ated
P
L
C
-
H
MI
tr
ain
er
k
it
f
o
r
p
n
eu
m
a
tic
s
y
s
te
m
ed
u
ca
ti
o
n
r
e
m
ai
n
s
li
m
ited
.
Mo
s
t
p
r
ev
io
u
s
s
tu
d
ie
s
h
av
e
f
o
cu
s
ed
o
n
s
o
f
t
w
ar
e
s
i
m
u
latio
n
s
o
r
in
d
u
s
tr
ial
s
ca
le
i
m
p
le
m
en
tatio
n
s
,
w
h
ic
h
ar
e
n
o
t
f
u
ll
y
al
ig
n
ed
w
it
h
th
e
n
ee
d
s
o
f
ed
u
ca
tio
n
al
lab
o
r
ato
r
ies
in
ter
m
s
o
f
co
s
t,
co
m
p
lex
it
y
,
a
n
d
d
ir
ec
t
in
ter
ac
tio
n
w
i
th
r
ea
l
h
ar
d
w
ar
e.
Fu
r
th
er
m
o
r
e,
m
an
y
ex
is
ti
n
g
ed
u
ca
tio
n
a
l
tr
ain
er
s
y
s
te
m
s
e
m
p
lo
y
s
ep
ar
ate
co
n
tr
o
l
p
r
o
g
r
am
s
f
o
r
d
if
f
er
en
t
lear
n
in
g
s
ce
n
ar
io
s
,
r
esu
lti
n
g
in
in
cr
ea
s
ed
s
o
f
t
w
ar
e
co
m
p
l
ex
it
y
a
n
d
r
ed
u
ce
d
lear
n
in
g
co
n
tin
u
it
y
.
I
n
ad
d
it
io
n
,
I
o
T
in
teg
r
atio
n
in
m
o
s
t
p
r
ev
io
u
s
w
o
r
k
s
is
p
r
i
m
a
r
il
y
o
r
ien
ted
to
w
ar
d
in
d
u
s
tr
ial
m
o
n
ito
r
i
n
g
p
u
r
p
o
s
es,
r
ath
er
th
a
n
b
ei
n
g
e
x
p
licitl
y
d
esig
n
ed
to
s
u
p
p
o
r
t
s
tr
u
ct
u
r
ed
lear
n
in
g
p
r
o
ce
s
s
es
,
s
ce
n
ar
io
-
b
ased
e
x
p
er
i
m
e
n
tati
o
n
,
an
d
ed
u
ca
tio
n
al
ev
a
lu
at
i
o
n
[
8
]
,
[
9
]
.
Ov
er
all,
p
r
ev
io
u
s
w
o
r
k
s
ten
d
to
e
m
p
h
a
s
ize
eith
er
i
n
d
u
s
tr
ial
d
ep
lo
y
m
e
n
t
o
r
s
i
m
u
latio
n
-
b
ased
ap
p
r
o
ac
h
es,
w
i
th
li
m
ited
atte
n
tio
n
to
in
teg
r
ated
,
h
ar
d
w
ar
e
-
b
ased
ed
u
ca
tio
n
al
tr
ain
er
s
t
h
at
co
m
b
in
e
P
L
C
,
HM
I
,
p
n
eu
m
atic
s
y
s
te
m
s
,
a
n
d
I
o
T
w
ith
in
a
s
tr
u
ct
u
r
ed
p
ed
ag
o
g
ical
f
r
a
m
e
w
o
r
k
.
T
h
e
r
ef
o
r
e,
th
er
e
is
a
n
ee
d
f
o
r
a
n
ed
u
ca
tio
n
al
tr
ai
n
er
th
at
in
t
eg
r
ates
p
n
e
u
m
atic
co
m
p
o
n
e
n
t
s
,
P
L
C
–
HM
I
co
n
tr
o
l,
an
d
s
tr
u
ct
u
r
ed
I
o
T
-
b
ased
m
o
n
ito
r
i
n
g
w
it
h
in
a
lear
n
i
n
g
-
o
r
ien
ted
d
esig
n
.
T
o
th
e
b
est
o
f
t
h
e
a
u
th
o
r
s
’
k
n
o
w
led
g
e,
n
o
p
r
io
r
s
tu
d
y
h
as
c
o
m
p
r
e
h
en
s
iv
e
l
y
d
e
v
elo
p
ed
an
d
v
alid
ated
an
I
o
T
-
in
te
g
r
ated
P
L
C
–
HM
I
p
n
e
u
m
atic
tr
ai
n
er
s
p
ec
i
f
icall
y
d
esig
n
ed
w
it
h
m
o
d
u
lar
co
n
tr
o
l
ar
ch
itect
u
r
e
an
d
ed
u
ca
tio
n
al
-
o
r
ien
ted
I
o
T
m
o
n
ito
r
in
g
f
o
r
s
tr
u
c
tu
r
ed
lab
o
r
ato
r
y
lear
n
in
g
.
T
h
is
p
ap
er
c
o
n
tr
ib
u
tes
to
th
r
ee
m
ai
n
asp
ec
ts
,
n
a
m
el
y
th
e
d
ev
elo
p
m
en
t
o
f
a
lo
w
-
co
s
t
I
o
T
-
in
teg
r
at
ed
P
L
C
–
HM
I
p
n
eu
m
atic
tr
ain
er
k
it
b
ased
o
n
r
ea
l
h
ar
d
w
ar
e
i
m
p
le
m
e
n
tatio
n
,
th
e
in
tr
o
d
u
ctio
n
o
f
a
m
o
d
u
la
r
s
in
g
le
-
p
r
o
g
r
a
m
P
L
C
ar
ch
i
tectu
r
e
s
u
p
p
o
r
tin
g
m
u
ltip
le
lear
n
in
g
s
ce
n
ar
io
s
t
h
r
o
u
g
h
HM
I
s
elec
t
io
n
,
a
n
d
t
h
e
i
m
p
le
m
en
tat
io
n
o
f
ed
u
ca
t
io
n
al
-
o
r
ie
n
ted
I
o
T
m
o
n
ito
r
i
n
g
d
esi
g
n
ed
n
o
t o
n
l
y
f
o
r
v
is
u
aliza
t
io
n
b
u
t a
l
s
o
f
o
r
lear
n
in
g
s
u
p
er
v
i
s
io
n
an
d
as
s
es
s
m
en
t.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
al
s
o
alig
n
ed
w
ith
th
e
r
esear
c
h
s
c
o
p
e
o
f
telec
o
m
m
u
n
icatio
n
,
el
ec
tr
o
n
ics
,
co
n
tr
o
l,
an
d
co
m
p
u
ti
n
g
s
y
s
te
m
s
.
T
h
e
in
teg
r
atio
n
o
f
P
L
C
co
n
tr
o
l
(
co
n
tr
o
l
en
g
in
ee
r
in
g
)
,
HM
I
v
is
u
aliza
tio
n
(
e
m
b
ed
d
ed
co
m
p
u
t
in
g
i
n
ter
f
ac
e)
,
an
d
I
o
T
co
m
m
u
n
icati
o
n
(
telec
o
m
m
u
n
ica
tio
n
n
et
wo
r
k
s
)
r
ep
r
esen
ts
a
m
u
ltid
is
cip
li
n
ar
y
a
u
to
m
atio
n
ar
ch
itectu
r
e.
T
h
er
ef
o
r
e,
th
e
d
ev
elo
p
ed
tr
ain
er
n
o
t
o
n
l
y
s
u
p
p
o
r
ts
p
n
eu
m
atic
co
n
tr
o
l
ed
u
ca
tio
n
b
u
t
a
ls
o
i
n
t
r
o
d
u
ce
s
s
tu
d
e
n
ts
to
i
n
te
g
r
ated
c
y
b
er
-
p
h
y
s
ica
l
s
y
s
te
m
s
co
m
m
o
n
l
y
i
m
p
le
m
en
ted
in
m
o
d
er
n
i
n
d
u
s
tr
ial
au
to
m
ati
o
n
en
v
ir
o
n
m
en
t
s
.
T
h
is
s
tu
d
y
p
r
esen
ts
th
e
d
esi
g
n
an
d
i
m
p
le
m
en
tatio
n
o
f
an
I
o
T
-
b
ased
P
L
C
an
d
HM
I
tr
ain
er
k
it
f
o
r
p
n
eu
m
atic
co
n
tr
o
l
s
y
s
te
m
e
d
u
ca
tio
n
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
t
e
m
i
n
te
g
r
ates
a
Hai
w
ell
P
L
C
a
n
d
HM
I
w
it
h
p
n
eu
m
atic
ac
tu
ato
r
s
an
d
I
o
T
co
m
m
u
n
icatio
n
to
s
u
p
p
o
r
t
p
r
ac
tical
lear
n
i
n
g
a
n
d
r
e
m
o
te
m
o
n
ito
r
in
g
.
T
h
e
tr
ai
n
er
k
it
i
s
d
esi
g
n
ed
to
f
ac
ilit
ate
b
asic
lear
n
in
g
s
ce
n
ar
io
s
,
in
cl
u
d
in
g
m
a
n
u
al
a
n
d
au
to
m
atic
c
o
n
tr
o
l,
s
en
s
o
r
-
b
ased
in
ter
lo
ck
i
n
g
,
an
d
r
ea
l
-
ti
m
e
s
y
s
te
m
v
is
u
aliza
t
io
n
.
F
u
n
c
tio
n
al
t
esti
n
g
a
n
d
ed
u
ca
tio
n
a
l
ev
al
u
at
io
n
ar
e
co
n
d
u
cte
d
to
d
em
o
n
s
tr
ate
t
h
e
f
ea
s
ib
ilit
y
a
n
d
ef
f
ec
ti
v
e
n
es
s
o
f
t
h
e
tr
ain
er
k
it
a
s
a
lear
n
i
n
g
to
o
l
f
o
r
au
to
m
at
io
n
an
d
m
ec
h
a
tr
o
n
ics co
u
r
s
es.
C
o
m
p
ar
ed
to
p
r
ev
io
u
s
l
y
d
ev
e
l
o
p
ed
P
L
C
tr
ain
er
k
its
an
d
I
o
T
-
b
ased
au
to
m
at
io
n
tr
ain
er
s
[
1
]
,
[
5
]
,
[
6
]
,
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
o
f
f
er
s
s
e
v
er
al
d
is
ti
n
cti
v
e
co
n
tr
ib
u
tio
n
s
.
First,
m
o
s
t
e
x
is
t
in
g
ed
u
ca
t
io
n
al
tr
ai
n
er
s
eit
h
er
f
o
cu
s
o
n
P
L
C
–
p
n
eu
m
atic
co
n
tr
o
l
w
ith
o
u
t
I
o
T
in
teg
r
atio
n
o
r
im
p
le
m
e
n
t
I
o
T
p
r
im
ar
il
y
f
o
r
in
d
u
s
tr
ial
-
s
t
y
le
m
o
n
ito
r
i
n
g
p
u
r
p
o
s
es.
I
n
co
n
tr
ast,
th
e
p
r
o
p
o
s
ed
tr
ain
er
in
teg
r
ates
P
L
C
,
HM
I
,
p
n
eu
m
atic
h
ar
d
w
ar
e,
an
d
I
o
T
w
it
h
i
n
a
s
tr
u
ct
u
r
ed
ed
u
ca
tio
n
al
ar
ch
itect
u
r
e
s
p
ec
if
icall
y
d
e
s
ig
n
ed
f
o
r
p
r
o
g
r
ess
i
v
e
lab
o
r
ato
r
y
lear
n
in
g
r
at
h
er
th
an
in
d
u
s
tr
ial
d
ep
lo
y
m
en
t.
Seco
n
d
,
u
n
lik
e
m
a
n
y
p
r
ev
io
u
s
tr
ai
n
er
s
y
s
te
m
s
t
h
a
t
r
eq
u
ir
e
s
ep
ar
ate
P
L
C
p
r
o
g
r
am
s
f
o
r
d
if
f
er
en
t
lear
n
i
n
g
s
ce
n
ar
io
s
,
th
is
w
o
r
k
in
tr
o
d
u
ce
s
a
s
i
n
g
le
m
o
d
u
lar
P
L
C
co
n
tr
o
l
p
r
o
g
r
a
m
ca
p
ab
le
o
f
ex
ec
u
ti
n
g
m
u
lt
ip
le
p
n
eu
m
atic
s
ce
n
ar
io
s
t
h
r
o
u
g
h
H
MI
-
b
ased
s
ce
n
ar
io
s
ele
ctio
n
.
T
h
is
u
n
i
f
ied
ar
ch
itect
u
r
e
f
u
n
d
a
m
e
n
tall
y
r
ed
u
ce
s
s
o
f
t
w
ar
e
r
ed
u
n
d
an
c
y
,
en
h
a
n
ce
s
p
r
o
g
r
a
m
r
ea
d
ab
ilit
y
,
a
n
d
s
u
p
p
o
r
ts
s
tr
u
ct
u
r
ed
p
ed
ag
o
g
ical
p
r
o
g
r
e
s
s
io
n
.
T
h
ir
d
,
I
o
T
in
teg
r
atio
n
i
n
t
h
is
w
o
r
k
is
n
o
t
o
n
l
y
in
ten
d
ed
f
o
r
v
is
u
aliza
tio
n
b
u
t
also
ex
p
licitl
y
d
esi
g
n
ed
t
o
s
u
p
p
o
r
t
lea
r
n
in
g
ass
es
s
m
en
t
an
d
lab
o
r
at
o
r
y
s
u
p
er
v
is
io
n
.
Selecte
d
v
ar
iab
les
s
u
c
h
as
ac
tu
ato
r
s
tatu
s
an
d
c
y
cle
co
u
n
t
s
ar
e
tr
an
s
m
it
ted
f
o
r
r
em
o
te
m
o
n
ito
r
i
n
g
to
en
h
a
n
ce
in
s
tr
u
ct
io
n
al
tr
an
s
p
ar
en
c
y
.
T
h
er
ef
o
r
e,
th
e
m
ai
n
n
o
v
el
t
y
o
f
t
h
i
s
r
esear
ch
lies
n
o
t
m
er
el
y
in
s
y
s
te
m
i
n
t
eg
r
atio
n
,
b
u
t
i
n
th
e
p
ed
ag
o
g
icall
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s
tr
u
ctu
r
ed
m
o
d
u
lar
co
n
tr
o
l
ar
ch
itect
u
r
e
co
m
b
in
ed
w
it
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u
ca
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-
o
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ien
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T
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ito
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s
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ed
f
o
r
p
n
eu
m
atic
co
n
tr
o
l e
d
u
ca
tio
n
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
is
s
tu
d
y
e
m
p
lo
y
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a
d
ev
elo
p
m
e
n
t
an
d
v
alid
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n
ap
p
r
o
ac
h
to
d
esig
n
,
i
m
p
le
m
e
n
ta
tio
n
,
an
d
ev
alu
a
tio
n
o
f
a
n
I
o
T
-
in
te
g
r
ate
d
P
L
C
–
HM
I
p
n
eu
m
atic
tr
ai
n
e
r
f
o
r
ed
u
ca
tio
n
al
ap
p
licatio
n
s
.
T
h
e
r
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ch
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u
p
p
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t stru
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lab
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ch
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w
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ca
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d
s
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o
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co
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ain
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,
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u
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o
b
j
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w
e
r
e
id
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.
B
ased
o
n
th
ese
s
p
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if
icatio
n
s
,
th
e
h
ar
d
w
ar
e
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n
d
s
o
f
t
w
ar
e
ar
ch
i
tectu
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d
es
ig
n
ed
,
in
c
l
u
d
in
g
t
h
e
s
e
lectio
n
o
f
P
L
C
,
HM
I
,
p
n
eu
m
atic
co
m
p
o
n
e
n
t
s
,
an
d
I
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co
m
m
u
n
icatio
n
m
o
d
u
les.
T
h
e
s
y
s
te
m
w
as
t
h
en
i
m
p
le
m
e
n
ted
an
d
in
teg
r
ated
to
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ab
le
co
o
r
d
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ate
d
o
p
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r
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b
et
w
ee
n
co
n
tr
o
l h
ar
d
w
ar
e,
v
is
u
aliza
t
i
o
n
in
ter
f
ac
es,
an
d
r
e
m
o
te
m
o
n
ito
r
in
g
f
ea
t
u
r
es.
Fo
llo
w
i
n
g
i
m
p
le
m
en
tatio
n
,
f
u
n
ct
io
n
al
test
i
n
g
w
a
s
co
n
d
u
cted
to
ev
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s
y
s
te
m
p
er
f
o
r
m
a
n
ce
,
r
eliab
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y
,
an
d
co
m
m
u
n
icatio
n
s
tab
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y
.
S
u
b
s
eq
u
e
n
tl
y
,
an
e
d
u
ca
tio
n
a
l
e
v
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a
tio
n
w
a
s
p
er
f
o
r
m
ed
to
ass
es
s
t
h
e
ef
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e
tr
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k
it
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u
p
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tin
g
lear
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tco
m
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n
p
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e
u
m
atic
co
n
tr
o
l
an
d
au
to
m
at
io
n
co
u
r
s
e
s
.
B
y
co
m
b
i
n
i
n
g
tech
n
ical
v
alid
atio
n
w
i
th
p
ed
ag
o
g
ical
as
s
es
s
m
en
t,
th
is
m
eth
o
d
o
lo
g
ical
ap
p
r
o
ac
h
en
s
u
r
es
th
a
t
th
e
p
r
o
p
o
s
ed
tr
ain
er
is
n
o
t o
n
l
y
o
p
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all
y
f
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s
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le
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u
t a
l
s
o
ed
u
ca
tio
n
all
y
m
ea
n
i
n
g
f
u
l.
2
.
1
.
E
du
ca
t
io
na
l sy
s
t
e
m
a
rc
hite
ct
ure
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
p
r
o
p
o
s
ed
tr
ain
er
k
it
ed
u
ca
tio
n
a
l
s
y
s
te
m
is
d
esi
g
n
ed
to
s
u
p
p
o
r
t
s
tr
u
ct
u
r
ed
lear
n
in
g
in
p
n
e
u
m
atic
co
n
t
r
o
l
th
r
o
u
g
h
d
ir
ec
t
in
ter
ac
ti
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w
it
h
r
ea
l
h
ar
d
w
ar
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an
d
a
co
m
p
r
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en
s
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v
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n
d
er
s
ta
n
d
in
g
o
f
s
y
s
te
m
in
te
g
r
atio
n
.
I
n
a
u
to
m
at
io
n
ed
u
ca
t
io
n
,
s
y
s
te
m
ar
c
h
itect
u
r
e
p
la
y
s
a
cr
u
cial
r
o
le
as
a
b
r
id
g
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b
et
w
ee
n
t
h
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r
etica
l
co
n
ce
p
ts
a
n
d
p
r
ac
tical
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m
p
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m
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n
tatio
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b
y
clea
r
l
y
d
ef
i
n
i
n
g
th
e
f
u
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ctio
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s
a
n
d
d
ata
f
lo
w
s
a
m
o
n
g
s
y
s
te
m
co
m
p
o
n
en
ts
[
1
0
]
.
T
h
e
p
r
o
p
o
s
ed
ar
ch
itectu
r
e
ad
o
p
ts
a
lay
er
ed
ed
u
c
atio
n
al
f
r
a
m
e
w
o
r
k
,
w
h
ic
h
is
co
m
m
o
n
l
y
u
s
ed
in
au
to
m
at
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lear
n
i
n
g
s
y
s
te
m
s
to
s
i
m
p
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s
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m
co
m
p
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h
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n
s
io
n
an
d
s
u
p
p
o
r
t
m
o
d
u
lar
lear
n
i
n
g
[
1
1
]
.
T
h
is
ap
p
r
o
ac
h
en
ab
les
lear
n
er
s
to
s
tu
d
y
ea
ch
s
u
b
s
y
s
te
m
i
n
d
ep
en
d
en
tl
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w
h
ile
u
n
d
er
s
ta
n
d
in
g
th
e
ir
in
ter
co
n
n
ec
tio
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s
w
i
th
i
n
th
e
o
v
er
all
co
n
tr
o
l
s
y
s
te
m
.
T
h
e
lay
er
e
d
ar
ch
itectu
r
e
w
as
d
elib
er
ately
s
elec
ted
to
e
n
h
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ce
p
ed
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o
g
ical
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it
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s
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m
p
l
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f
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b
les
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o
o
tin
g
p
r
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ce
s
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e
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,
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d
allo
w
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ca
lab
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ex
p
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g
m
o
d
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le
s
w
it
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t
m
o
d
i
f
y
in
g
th
e
e
n
tire
s
y
s
te
m
s
tr
u
ct
u
r
e.
T
h
e
p
n
eu
m
atic
s
y
s
te
m
r
ep
r
esen
t
s
th
e
p
h
y
s
ical
p
r
o
ce
s
s
o
f
th
e
s
y
s
te
m
,
co
n
s
is
t
in
g
o
f
p
n
eu
m
ati
c
c
y
li
n
d
er
s
,
s
o
len
o
id
v
alv
e
s
,
a
co
m
p
r
es
s
ed
air
s
u
p
p
l
y
u
n
i
t,
a
n
d
c
y
li
n
d
er
p
o
s
itio
n
s
en
s
o
r
s
.
T
h
is
la
y
er
e
n
ab
les
lear
n
er
s
to
d
ir
ec
tly
o
b
s
er
v
e
ac
tu
ato
r
b
eh
av
io
r
in
r
esp
o
n
s
e
to
co
n
tr
o
l
s
ig
n
al
s
,
w
h
i
ch
is
ess
e
n
tial
f
o
r
u
n
d
er
s
ta
n
d
in
g
th
e
r
elatio
n
s
h
ip
b
etw
ee
n
elec
tr
ical
co
n
tr
o
l
an
d
m
ec
h
a
n
ical
m
o
t
io
n
in
p
n
eu
m
atic
s
y
s
te
m
s
[
1
2
]
.
T
h
e
u
s
e
o
f
r
ea
l
p
n
eu
m
a
tic
co
m
p
o
n
e
n
t
s
h
a
s
b
ee
n
s
h
o
wn
to
en
h
a
n
ce
lear
n
i
n
g
o
u
tc
o
m
e
s
co
m
p
ar
ed
to
s
i
m
u
lat
io
n
-
o
n
l
y
ap
p
r
o
ac
h
es
[
1
3
]
.
T
h
e
co
n
tr
o
l
s
y
s
te
m
co
n
s
i
s
ts
o
f
a
P
L
C
th
a
t
s
er
v
e
s
as
th
e
m
ai
n
p
r
o
ce
s
s
in
g
u
n
it.
T
h
e
P
L
C
r
ec
ei
v
es
in
p
u
t
s
i
g
n
al
s
f
r
o
m
s
e
n
s
o
r
s
a
n
d
ex
ec
u
te
s
co
n
tr
o
l lo
g
ic
to
g
e
n
e
r
ate
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u
tp
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t si
g
n
als
th
at
d
r
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v
e
t
h
e
s
o
le
n
o
id
v
al
v
es.
I
n
ed
u
ca
tio
n
al
e
n
v
ir
o
n
m
e
n
t
s
,
P
L
C
-
b
ased
co
n
tr
o
l
ar
ch
i
tec
tu
r
es
ar
e
w
id
el
y
u
s
ed
b
ec
au
s
e
th
e
y
r
ep
r
esen
t
in
d
u
s
tr
ial
p
r
ac
tice
w
h
ile
r
e
m
a
in
i
n
g
s
u
i
tab
le
f
o
r
lab
o
r
ato
r
y
-
s
ca
le
lear
n
in
g
[
1
4
]
.
T
h
r
o
u
g
h
th
is
s
y
s
te
m
,
lear
n
er
s
ca
n
s
t
u
d
y
s
eq
u
en
t
ial
co
n
tr
o
l,
i
n
ter
lo
ck
lo
g
ic,
an
d
s
y
s
te
m
b
eh
av
io
r
an
al
y
s
i
s
ac
r
o
s
s
v
ar
io
u
s
o
p
er
atin
g
m
o
d
es.
T
h
e
HM
I
p
r
o
v
id
es
a
lo
ca
l
in
ter
ac
tio
n
an
d
v
is
u
aliza
tio
n
m
ed
iu
m
f
o
r
th
e
s
y
s
te
m
s
ta
tu
s
.
T
h
e
HM
I
d
is
p
la
y
s
r
ea
l
-
ti
m
e
in
f
o
r
m
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s
u
c
h
as
ac
t
u
ato
r
p
o
s
itio
n
s
,
s
en
s
o
r
s
ta
t
u
s
e
s
,
an
d
o
p
er
atin
g
m
o
d
es,
en
ab
li
n
g
lear
n
er
s
to
co
r
r
elate
th
e
P
L
C
p
r
o
g
r
am
lo
g
ic
w
i
th
s
y
s
te
m
r
esp
o
n
s
es.
T
h
e
in
teg
r
atio
n
o
f
HM
I
in
ed
u
ca
tio
n
a
l
tr
ain
er
s
h
a
s
b
ee
n
s
h
o
w
n
to
en
h
a
n
ce
s
t
u
d
en
t
s
’
u
n
d
er
s
tan
d
i
n
g
o
f
s
y
s
te
m
m
o
n
ito
r
in
g
co
n
ce
p
ts
an
d
h
u
m
a
n
–
m
ac
h
in
e
i
n
ter
ac
tio
n
[
1
5
]
.
T
h
e
I
o
T
ex
ten
d
s
th
e
f
u
n
ct
i
o
n
alit
y
o
f
th
e
tr
ai
n
er
k
it
b
y
e
n
ab
li
n
g
s
e
lecte
d
s
y
s
te
m
d
ata
to
b
e
tr
an
s
m
itted
to
a
r
e
m
o
te
m
o
n
ito
r
in
g
p
latf
o
r
m
.
U
n
li
k
e
in
d
u
s
tr
ial
I
o
T
im
p
le
m
e
n
tati
o
n
s
th
a
t
f
o
cu
s
o
n
p
er
f
o
r
m
a
n
ce
o
p
ti
m
izatio
n
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th
e
I
o
T
in
teg
r
atio
n
in
t
h
is
tr
ain
er
is
s
p
ec
if
icall
y
d
esig
n
ed
f
o
r
ed
u
ca
tio
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al
p
u
r
p
o
s
es,
e
m
p
h
a
s
izi
n
g
d
ata
v
i
s
ib
ilit
y
a
n
d
s
u
p
p
o
r
t
f
o
r
lear
n
in
g
ev
al
u
ati
o
n
[
1
6
]
.
R
e
m
o
te
m
o
n
i
to
r
in
g
allo
w
s
i
n
s
tr
u
cto
r
s
to
o
b
s
er
v
e
lab
o
r
ato
r
y
ac
tiv
ities
an
d
p
r
o
v
id
es
s
tu
d
e
n
ts
w
i
th
a
d
d
itio
n
al
in
s
ig
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t
s
in
to
s
y
s
te
m
b
eh
a
v
io
r
w
ith
o
u
t
r
eq
u
ir
in
g
co
n
s
ta
n
t d
ir
ec
t in
ter
ac
tio
n
w
it
h
th
e
p
h
y
s
ica
l d
ev
ic
e.
I
n
th
e
p
r
o
p
o
s
ed
a
r
ch
itectu
r
e,
d
ata
f
lo
w
f
o
llo
w
s
a
s
tr
u
ct
u
r
ed
clo
s
ed
-
lo
o
p
co
n
tr
o
l
m
ec
h
a
n
is
m
.
Sen
s
o
r
s
ig
n
al
s
f
r
o
m
t
h
e
p
n
e
u
m
atic
la
y
er
ar
e
tr
an
s
m
itted
to
t
h
e
P
L
C
i
n
p
u
t
m
o
d
u
le
s
,
w
h
er
e
th
e
l
ad
d
er
lo
g
ic
p
r
o
g
r
a
m
p
r
o
ce
s
s
es
th
e
s
i
g
n
als
ac
co
r
d
in
g
to
th
e
s
elec
ted
o
p
er
atin
g
s
ce
n
ar
io
.
T
h
e
P
L
C
th
e
n
g
e
n
er
ates
o
u
tp
u
t
co
m
m
an
d
s
to
ac
tu
ate
th
e
s
o
len
o
id
v
al
v
es
,
r
esu
ltin
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i
n
m
ec
h
an
ical
m
o
ti
o
n
o
f
th
e
c
y
li
n
d
er
s
.
Si
m
u
ltan
eo
u
s
l
y
,
o
p
er
atio
n
a
l
v
ar
iab
les
s
u
c
h
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u
ato
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s
tatu
s
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cle
co
u
n
ter
s
,
an
d
o
p
er
atin
g
m
o
d
es
ar
e
tr
an
s
m
itted
to
th
e
HM
I
f
o
r
r
ea
l
-
ti
m
e
v
is
u
aliza
tio
n
.
Selecte
d
d
ata
v
ar
iab
les
ar
e
f
u
r
th
er
f
o
r
w
ar
d
ed
to
th
e
I
o
T
p
latf
o
r
m
th
r
o
u
g
h
a
d
ef
in
ed
co
m
m
u
n
icatio
n
in
ter
f
ac
e,
en
ab
lin
g
r
e
m
o
te
o
b
s
er
v
atio
n
a
n
d
lo
g
g
in
g
.
T
h
is
s
tr
u
ct
u
r
ed
d
ata
f
lo
w
e
n
s
u
r
e
s
s
y
n
ch
r
o
n
izatio
n
b
et
w
ee
n
p
h
y
s
ical
p
r
o
ce
s
s
e
s
,
co
n
tr
o
l
lo
g
ic
ex
ec
u
tio
n
,
u
s
er
i
n
ter
ac
t
io
n
,
an
d
r
e
m
o
te
m
o
n
ito
r
i
n
g
,
t
h
er
eb
y
r
e
f
lecti
n
g
a
s
i
m
p
li
f
ied
b
u
t
r
ea
li
s
tic
in
d
u
s
tr
ial
au
to
m
atio
n
ar
ch
ite
ctu
r
e
s
u
itab
le
f
o
r
lab
o
r
ato
r
y
i
m
p
le
m
e
n
tatio
n
.
C
o
m
m
u
n
ica
tio
n
b
et
w
ee
n
t
h
e
P
L
C
an
d
HM
I
is
estab
lis
h
ed
u
s
in
g
an
i
n
d
u
s
tr
ial
co
m
m
u
n
icat
io
n
p
r
o
to
co
l
to
en
s
u
r
e
r
eliab
le
r
ea
l
-
ti
m
e
d
ata
ex
ch
a
n
g
e.
Me
an
wh
ile,
I
o
T
d
ata
tr
an
s
m
i
s
s
io
n
u
ti
lizes
a
lig
h
t
w
eig
h
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
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o
m
p
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t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
7
9
-
1794
1782
co
m
m
u
n
icatio
n
m
ec
h
a
n
is
m
s
u
itab
le
f
o
r
lab
o
r
ato
r
y
-
s
ca
le
m
o
n
ito
r
in
g
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en
s
u
r
i
n
g
lo
w
laten
c
y
a
n
d
s
tab
le
co
n
n
ec
ti
v
it
y
d
u
r
i
n
g
p
r
ac
tical
s
ess
io
n
s
.
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h
e
in
te
g
r
atio
n
o
f
t
h
ese
s
u
b
s
y
s
te
m
s
r
es
u
lt
s
i
n
a
m
o
d
u
la
r
ed
u
ca
tio
n
al
s
y
s
te
m
ar
c
h
ite
ctu
r
e
t
h
at
s
u
p
p
o
r
ts
f
u
n
d
a
m
en
ta
l
lear
n
in
g
o
b
j
ec
tiv
es
in
p
n
eu
m
atic
co
n
tr
o
l,
P
L
C
p
r
o
g
r
a
m
m
in
g
,
HM
I
d
esig
n
,
an
d
I
o
T
co
n
ce
p
t
in
tr
o
d
u
ctio
n
.
T
h
e
p
r
o
p
o
s
e
d
ar
ch
itectu
r
e
e
m
p
h
asi
ze
s
clar
it
y
o
f
s
tr
u
ct
u
r
e,
ea
s
e
o
f
lear
n
i
n
g
,
an
d
ed
u
ca
tio
n
al
r
elev
a
n
ce
,
w
it
h
o
u
t
p
r
io
r
itizin
g
in
d
u
s
tr
ial
s
y
s
te
m
co
m
p
le
x
it
y
,
as ill
u
s
tr
ated
in
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
A
r
ch
itectu
r
e
o
f
t
h
e
e
d
u
ca
tio
n
al
tr
ai
n
er
s
y
s
te
m
2
.
2
.
H
a
rdwa
re
des
ig
n
T
h
e
h
ar
d
w
ar
e
d
esig
n
o
f
t
h
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p
r
o
p
o
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ed
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ain
er
k
it
is
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ev
elo
p
ed
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u
p
p
o
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ctiv
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n
eu
m
atic
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tr
o
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P
L
C
p
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a
n
d
u
n
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er
s
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o
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s
y
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i
n
te
g
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atio
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.
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h
e
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el
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tio
n
o
f
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ar
d
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ar
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p
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t
s
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lace
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ter
e
m
p
h
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s
is
o
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ed
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ca
tio
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ita
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ilit
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o
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u
lar
it
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s
af
et
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asp
e
cts,
an
d
ea
s
e
o
f
u
s
e,
r
ath
er
th
a
n
o
n
t
h
e
p
er
f
o
r
m
a
n
c
e
r
eq
u
ir
e
m
en
ts
o
f
lar
g
e
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s
ca
le
i
n
d
u
s
tr
ial
s
y
s
te
m
s
.
Su
c
h
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esi
g
n
co
n
s
id
er
atio
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s
ar
e
co
m
m
o
n
l
y
ap
p
lied
in
au
to
m
at
io
n
tr
ain
er
s
y
s
te
m
s
to
ac
h
ie
v
e
o
p
tim
al
lear
n
in
g
o
u
tco
m
es
[
1
7
]
,
as
illu
s
tr
a
ted
in
Fig
u
r
e
2
.
Fig
u
r
e
2
.
E
d
u
ca
tio
n
al
s
y
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te
m
d
esig
n
o
f
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h
e
tr
ain
er
k
i
t
T
h
e
m
ai
n
co
m
p
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e
n
t
o
f
th
e
tr
ain
er
k
it
is
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e
Hai
w
ell
A
T
1
6
S0
R
P
L
C
,
w
h
ic
h
f
u
n
ctio
n
s
as
th
e
ce
n
tr
al
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n
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o
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u
n
it.
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h
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P
L
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is
eq
u
ip
p
ed
w
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h
a
s
u
f
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icie
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u
m
b
e
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f
d
ig
ital
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p
u
t
a
n
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tp
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t
ch
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n
el
s
to
s
u
p
p
o
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asic
p
n
eu
m
atic
co
n
tr
o
l
ex
p
e
r
i
m
en
ts
,
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u
ch
a
s
s
eq
u
e
n
tial
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o
n
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o
l
an
d
s
en
s
o
r
-
b
ased
in
ter
l
o
ck
in
g
.
P
L
C
-
b
ased
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
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K
A
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elec
o
m
m
u
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Desig
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(
C
h
a
ir
u
l G
a
g
a
r
in
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r
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to
)
1783
h
ar
d
w
ar
e
p
lat
f
o
r
m
s
ar
e
w
id
e
l
y
u
s
ed
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ed
u
ca
tio
n
al
lab
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ies
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s
e
t
h
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y
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n
r
ep
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s
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ile
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e
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a
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s
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d
e
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ts
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lear
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.
T
h
e
Hai
w
ell
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w
a
s
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ated
E
th
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et
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ai
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b
r
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d
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d
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itab
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o
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ed
u
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tio
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ato
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d
ep
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e
n
t.
W
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ile
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r
e
m
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s
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ial
P
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d
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as
Sie
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ir
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atic
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.
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h
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o
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el
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(
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/O
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h
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o
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.
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tio
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ce
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er
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co
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ar
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ial
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latf
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s
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ak
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f
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tit
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w
ith
li
m
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ted
lab
o
r
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b
u
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ets.
T
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e
P
L
C
o
p
er
ates
at
2
4
v
o
lts
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ir
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t
cu
r
r
en
t
(
VDC
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w
i
th
a
d
ig
ital
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p
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t
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ela
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tp
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t
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f
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r
atio
n
,
w
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is
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m
m
o
n
l
y
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s
ed
in
lab
o
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r
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s
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u
to
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at
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y
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m
s
.
T
h
e
P
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r
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8
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ig
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p
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h
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8
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ltip
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m
atic
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s
ce
n
ar
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s
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in
cl
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d
in
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eq
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en
tial
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n
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o
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s
en
s
o
r
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ter
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w
itc
h
in
g
,
w
i
th
o
u
t r
eq
u
ir
in
g
ad
d
itio
n
al
ex
p
an
s
io
n
m
o
d
u
les.
A
7
-
i
n
c
h
Hai
w
ell
HM
I
is
i
n
te
g
r
ated
to
p
r
o
v
id
e
lo
ca
l
v
is
u
a
li
za
tio
n
an
d
in
ter
ac
tio
n
w
it
h
th
e
s
y
s
te
m
.
T
h
r
o
u
g
h
th
e
HM
I
,
u
s
er
s
ca
n
m
o
n
ito
r
s
y
s
te
m
co
n
d
itio
n
s
,
s
u
ch
as
s
en
s
o
r
s
tatu
s
an
d
ac
tu
at
o
r
p
o
s
itio
n
s
,
as
w
el
l
as
o
p
er
ate
th
e
tr
ain
er
in
b
o
th
m
an
u
al
a
n
d
au
to
m
atic
m
o
d
es.
T
h
e
u
s
e
o
f
HM
I
in
ed
u
ca
tio
n
al
tr
ain
er
s
h
as
b
ee
n
p
r
o
v
en
to
en
h
a
n
ce
s
t
u
d
en
t
s
’
u
n
d
er
s
tan
d
i
n
g
o
f
s
y
s
te
m
m
o
n
it
o
r
in
g
co
n
ce
p
ts
a
n
d
co
n
tr
o
l
in
t
er
f
ac
es
[
1
8
]
.
T
h
e
7
-
in
ch
to
u
c
h
s
cr
ee
n
s
ize
w
a
s
s
e
lecte
d
to
p
r
o
v
id
e
ad
eq
u
ate
v
i
s
u
aliza
tio
n
s
p
ac
e
f
o
r
ac
tu
a
to
r
in
d
icato
r
s
,
lad
d
er
s
tatu
s
f
ee
d
b
ac
k
,
a
n
d
o
p
er
atin
g
m
o
d
e
s
elec
tio
n
w
h
ile
m
ain
tai
n
in
g
a
f
f
o
r
d
ab
ilit
y
a
n
d
co
m
p
ac
t p
an
el
in
te
g
r
atio
n
.
T
h
e
p
n
eu
m
atic
s
u
b
s
y
s
te
m
co
n
s
i
s
ts
o
f
p
n
eu
m
atic
c
y
lin
d
er
s
,
s
o
len
o
id
v
alv
es,
an
air
s
u
p
p
ly
u
n
i
t,
an
d
p
o
s
itio
n
s
en
s
o
r
s
.
Do
u
b
le
-
ac
ti
n
g
c
y
li
n
d
er
s
ar
e
u
s
ed
to
d
e
m
o
n
s
tr
ate
t
w
o
-
w
a
y
m
o
tio
n
co
n
tr
o
l,
w
h
i
le
th
e
s
o
len
o
id
v
al
v
es
ar
e
d
ir
ec
tl
y
c
o
n
tr
o
lled
b
y
P
L
C
o
u
tp
u
t
s
i
g
n
als.
I
n
d
u
cti
v
e
p
r
o
x
i
m
it
y
s
e
n
s
o
r
s
ar
e
in
s
talled
to
d
etec
t
th
e
ac
tu
a
to
r
s
tatu
s
an
d
p
r
o
v
id
e
f
ee
d
b
ac
k
to
th
e
P
L
C
.
I
n
d
u
cti
v
e
p
r
o
x
i
m
it
y
s
en
s
o
r
s
wer
e
s
elec
ted
d
u
e
to
th
eir
n
o
n
-
co
n
tac
t
o
p
er
atio
n
,
d
u
r
ab
ilit
y
,
an
d
f
ast
r
esp
o
n
s
e
ti
m
e
co
m
p
ar
ed
to
m
ec
h
a
n
ica
l
li
m
it
s
w
it
c
h
es.
I
n
ed
u
ca
tio
n
al
e
n
v
ir
o
n
m
en
t
s
,
t
h
i
s
r
ed
u
ce
s
m
ec
h
an
ica
l
w
ea
r
an
d
m
in
i
m
izes
m
ai
n
te
n
an
ce
w
h
i
le
en
s
u
r
i
n
g
r
eliab
l
e
r
ep
etitiv
e
ex
p
er
i
m
e
n
tatio
n
.
T
h
e
s
en
s
o
r
s
o
p
er
ate
at
2
4
VD
C
w
it
h
a
n
eg
at
iv
e
-
p
o
s
iti
v
e
-
n
e
g
ati
v
e
(
NP
N
)
o
u
tp
u
t
co
n
f
i
g
u
r
atio
n
co
m
p
atib
le
w
it
h
th
e
P
L
C
d
i
g
ital i
n
p
u
t
m
o
d
u
le.
T
h
e
u
s
e
o
f
r
ea
l
p
n
e
u
m
a
tic
c
o
m
p
o
n
en
t
s
allo
w
s
s
t
u
d
en
t
s
t
o
o
b
s
er
v
e
th
e
p
h
y
s
ical
r
esp
o
n
s
e
o
f
t
h
e
s
y
s
te
m
d
ir
ec
tl
y
,
w
h
ic
h
is
e
s
s
e
n
tial
f
o
r
lear
n
i
n
g
th
e
p
r
i
n
cip
les o
f
p
n
e
u
m
atic
co
n
tr
o
l
[
1
9
]
.
T
o
s
u
p
p
o
r
t I
o
T
-
b
ased
m
o
n
ito
r
i
n
g
i
n
an
ed
u
ca
tio
n
a
l
co
n
tex
t,
th
e
tr
ai
n
er
k
it
is
eq
u
i
p
p
ed
w
it
h
co
m
m
u
n
icatio
n
in
te
r
f
ac
e
m
o
d
u
les,
s
u
c
h
as
E
th
er
n
et
o
r
w
ir
eles
s
f
id
elit
y
(
Wi
-
Fi
)
,
co
n
n
ec
ted
to
t
h
e
P
L
C
.
T
h
ese
m
o
d
u
les
e
n
ab
le
th
e
tr
a
n
s
m
is
s
io
n
o
f
s
elec
ted
s
y
s
te
m
v
ar
iab
les
to
an
I
o
T
p
latf
o
r
m
f
o
r
r
e
m
o
t
e
o
b
s
er
v
atio
n
.
I
n
ed
u
ca
tio
n
a
l
ap
p
licatio
n
s
,
th
e
co
m
m
u
n
icatio
n
m
o
d
u
le
is
m
o
r
e
f
o
cu
s
ed
o
n
s
y
s
te
m
v
i
s
u
aliza
tio
n
a
n
d
lear
n
i
n
g
as
s
ess
m
en
t
r
ath
er
t
h
a
n
p
er
f
o
r
m
a
n
ce
o
p
ti
m
izatio
n
[
2
0
]
.
T
h
e
co
m
m
u
n
icatio
n
b
et
w
ee
n
th
e
P
L
C
a
n
d
I
o
T
m
o
d
u
le
u
t
ilizes
a
lig
h
t
w
ei
g
h
t
p
r
o
to
co
l
s
u
itab
le
f
o
r
lab
o
r
ato
r
y
i
m
p
le
m
e
n
tatio
n
,
en
s
u
r
in
g
s
tab
le
d
ata
tr
an
s
m
is
s
i
o
n
w
it
h
m
i
n
i
m
al
co
n
f
i
g
u
r
atio
n
co
m
p
le
x
it
y
.
T
h
e
in
p
u
t
co
m
p
o
n
en
t
s
co
n
s
is
t
o
f
p
u
s
h
b
u
tto
n
s
f
o
r
s
tar
t
o
p
er
atio
n
s
a
n
d
a
s
elec
to
r
s
w
i
tch
to
ch
o
o
s
e
b
et
w
ee
n
m
an
u
al
an
d
au
to
m
at
ic
m
o
d
es,
w
ith
ad
d
itio
n
al
r
e
la
y
co
n
tr
o
l
in
clu
d
ed
f
o
r
v
o
ltag
e
s
w
itc
h
in
g
w
h
e
n
d
ir
ec
t
cu
r
r
en
t
(
DC
)
to
alter
n
atin
g
cu
r
r
e
n
t
(
AC
)
co
n
v
er
s
io
n
is
r
eq
u
ir
ed
.
I
n
d
icato
r
lig
h
ts
ar
e
also
ad
d
ed
as
o
u
tp
u
t
co
m
p
o
n
e
n
ts
to
p
r
o
v
id
e
v
is
u
a
l
f
ee
d
b
ac
k
o
n
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
.
E
lectr
ical
p
r
o
t
ec
tio
n
m
ec
h
an
i
s
m
s
w
er
e
in
co
r
p
o
r
ated
,
in
clu
d
in
g
cir
cu
it
b
r
ea
k
er
s
an
d
r
ela
y
is
o
l
atio
n
m
o
d
u
le
s
,
to
p
r
ev
en
t
o
v
e
r
cu
r
r
en
t
an
d
p
r
o
tect
co
n
tr
o
l
cir
cu
its
f
r
o
m
u
n
i
n
ten
d
ed
v
o
ltag
e
ex
p
o
s
u
r
e.
A
n
e
m
er
g
e
n
c
y
s
to
p
f
u
n
ct
io
n
w
a
s
also
i
m
p
le
m
e
n
ted
to
en
h
a
n
ce
o
p
er
atio
n
al
s
a
f
et
y
d
u
r
in
g
lab
o
r
ato
r
y
s
es
s
io
n
s
.
A
ll
h
ar
d
w
ar
e
co
m
p
o
n
en
t
s
ar
e
m
o
u
n
ted
o
n
t
h
e
tr
ai
n
er
p
an
el
u
s
in
g
ter
m
i
n
al
s
o
ck
et
s
a
n
d
c
o
n
n
ec
to
r
s
th
at
ar
e
clea
r
l
y
lab
eled
to
en
s
u
r
e
s
a
f
et
y
a
n
d
ea
s
e
o
f
o
p
er
a
tio
n
.
T
h
is
d
esig
n
ap
p
r
o
ac
h
is
r
ec
o
m
m
en
d
ed
f
o
r
ed
u
ca
tio
n
al
tr
ain
er
s
as
it
p
r
o
m
o
tes
f
lex
ib
il
i
t
y
a
n
d
h
an
d
s
-
o
n
lear
n
i
n
g
[
2
1
]
.
T
h
e
P
L
C
an
d
HM
I
in
p
u
t/o
u
tp
u
t
ad
d
r
ess
es
ar
e
p
r
esen
ted
in
T
a
b
les
1
an
d
2
.
T
h
e
d
etailed
h
ar
d
w
ar
e
co
n
f
i
g
u
r
atio
n
an
d
I
/O
ad
d
r
ess
in
g
tab
les
allo
w
o
th
er
r
esear
ch
er
s
a
n
d
ed
u
ca
to
r
s
to
r
e
p
licate
th
e
p
r
o
p
o
s
ed
tr
ain
er
s
y
s
te
m
i
n
s
i
m
ilar
lab
o
r
ato
r
y
en
v
ir
o
n
m
e
n
t
s
.
T
ab
le
1
.
P
L
C
I
/O
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d
r
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I
n
p
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t
A
d
d
r
e
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O
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A
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r
S
B
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d
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Y3
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t
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X4
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n
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l
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b
s
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p
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b
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r
t
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Evaluation Warning : The document was created with Spire.PDF for Python.
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24
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26
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T
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HM
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ess
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3
.
So
f
t
w
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re
des
ig
n
T
h
e
s
o
f
t
w
ar
e
d
esi
g
n
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t
h
e
p
r
o
p
o
s
ed
tr
ain
er
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y
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te
m
in
te
g
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at
es
P
L
C
co
n
tr
o
l,
HM
I
v
i
s
u
aliz
atio
n
,
an
d
I
o
T
-
b
ased
m
o
n
i
to
r
in
g
to
s
u
p
p
o
r
t
p
n
eu
m
atic
a
u
to
m
a
tio
n
lea
r
n
in
g
.
T
h
e
s
o
f
t
w
ar
e
ar
ch
i
tect
u
r
e
is
d
e
v
elo
p
ed
to
co
o
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ate
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c
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o
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s
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m
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in
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,
an
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u
s
er
in
ter
ac
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n
w
it
h
i
n
an
in
teg
r
ated
co
n
tr
o
l
en
v
ir
o
n
m
e
n
t.
T
h
e
co
n
tr
o
l p
r
o
g
r
a
m
is
i
m
p
le
m
e
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ted
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s
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t
h
e
Hai
w
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Hap
p
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p
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r
a
m
m
i
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s
o
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t
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it
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er
d
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r
a
m
(
L
D)
p
r
o
g
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a
m
m
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g
lan
g
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a
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e.
T
h
e
P
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ic
is
s
tr
u
ct
u
r
ed
in
to
s
ev
er
al
f
u
n
ct
io
n
al
s
ec
tio
n
s
r
esp
o
n
s
ib
le
f
o
r
in
p
u
t
s
i
g
n
al
p
r
o
ce
s
s
in
g
,
o
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er
atin
g
m
o
d
e
s
elec
tio
n
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s
eq
u
e
n
tial
co
n
tr
o
l
ex
ec
u
t
io
n
,
ac
tu
ato
r
co
m
m
a
n
d
g
e
n
er
atio
n
,
an
d
s
af
et
y
i
n
ter
lo
c
k
in
g
.
T
h
is
s
tr
u
ctu
r
ed
o
r
g
an
izatio
n
allo
w
s
m
u
ltip
le
p
n
e
u
m
at
ic
tr
ain
i
n
g
s
ce
n
ar
io
s
to
b
e
im
p
l
e
m
en
te
d
w
it
h
i
n
a
s
in
g
le
P
L
C
p
r
o
g
r
a
m
w
h
ile
m
a
in
ta
in
i
n
g
p
r
o
g
r
am
r
ea
d
ab
ilit
y
an
d
f
ac
ili
tati
n
g
tr
o
u
b
le
s
h
o
o
ti
n
g
d
u
r
in
g
lab
o
r
ato
r
y
ac
t
iv
i
ties
.
T
h
e
HM
I
is
d
ev
elo
p
ed
u
s
in
g
th
e
Hai
w
ell
C
lo
u
d
HM
I
co
n
f
ig
u
r
atio
n
s
o
f
t
w
ar
e.
T
h
r
o
u
g
h
t
h
e
HM
I
i
n
ter
f
ac
e,
u
s
er
s
ca
n
o
b
s
er
v
e
s
y
s
te
m
co
n
d
itio
n
s
in
r
ea
l
ti
m
e,
in
cl
u
d
in
g
s
en
s
o
r
s
tate
s
,
ac
tu
ato
r
p
o
s
itio
n
s
,
a
n
d
th
e
ac
ti
v
e
o
p
er
atin
g
m
o
d
e.
I
n
ad
d
iti
o
n
to
v
is
u
aliza
tio
n
f
u
n
ctio
n
s
,
t
h
e
in
ter
f
ac
e
also
en
ab
les
u
s
er
s
to
p
er
f
o
r
m
co
n
tr
o
l
o
p
er
atio
n
s
s
u
c
h
as
s
tar
ti
n
g
o
r
s
to
p
p
in
g
t
h
e
s
y
s
te
m
,
s
elec
ti
n
g
m
a
n
u
al
o
r
au
to
m
at
ic
o
p
er
atio
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m
o
d
es,
an
d
ac
tiv
at
in
g
s
p
ec
i
f
ic
ac
t
u
at
o
r
s
d
u
r
in
g
tr
ai
n
i
n
g
ex
er
cises
.
T
h
i
s
i
n
ter
ac
ti
v
e
v
is
u
aliza
tio
n
h
elp
s
s
tu
d
e
n
ts
u
n
d
er
s
tan
d
t
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
P
L
C
co
n
tr
o
l
lo
g
ic
an
d
th
e
r
esu
l
tin
g
p
h
y
s
ical
m
o
v
e
m
e
n
t
o
f
p
n
eu
m
at
ic
ac
tu
ato
r
s
.
T
o
ex
ten
d
s
y
s
te
m
f
u
n
ctio
n
alit
y
,
I
o
T
co
m
m
u
n
icatio
n
i
s
i
m
p
le
m
en
t
ed
th
r
o
u
g
h
t
h
e
E
th
er
n
e
t
in
te
r
f
ac
e
in
te
g
r
ated
in
th
e
Hai
well
P
L
C
.
Selecte
d
o
p
er
atio
n
al
p
ar
am
eter
s
,
s
u
ch
as
ac
tu
a
to
r
s
tatu
s
,
ar
e
tr
a
n
s
m
itted
to
a
n
I
o
T
m
o
n
ito
r
in
g
p
latf
o
r
m
.
T
h
e
tr
an
s
m
itted
d
ata
ca
n
b
e
ac
ce
s
s
ed
th
r
o
u
g
h
th
e
Hai
w
ell
L
i
n
k
ap
p
licatio
n
d
ash
b
o
ar
d
,
allo
w
in
g
r
e
m
o
t
e
o
b
s
er
v
atio
n
o
f
s
y
s
te
m
o
p
er
atio
n
d
u
r
i
n
g
lab
o
r
ato
r
y
s
es
s
io
n
s
.
T
h
e
i
n
teg
r
atio
n
o
f
P
L
C
co
n
tr
o
l,
HM
I
v
is
u
aliza
t
io
n
,
an
d
I
o
T
m
o
n
ito
r
in
g
f
o
r
m
s
a
u
n
i
f
ied
s
o
f
t
w
ar
e
f
r
a
m
e
w
o
r
k
th
at
s
u
p
p
o
r
ts
b
o
t
h
s
y
s
te
m
o
p
er
atio
n
an
d
ed
u
ca
tio
n
al
ac
ti
v
it
ies i
n
p
n
eu
m
atic
a
u
to
m
atio
n
tr
ai
n
i
n
g
,
as illu
s
tr
ated
in
F
ig
u
r
e
3
.
Fig
u
r
e
3
.
So
f
t
w
ar
e
ar
ch
itect
u
r
e
o
f
th
e
P
L
C
–
HM
I
–
I
o
T
in
teg
r
ated
p
n
eu
m
a
tic
tr
ain
er
s
y
s
te
m
T
h
e
I
o
T
co
m
m
u
n
icat
io
n
ar
c
h
i
tectu
r
e
f
o
llo
w
s
a
clie
n
t
–
s
er
v
e
r
d
ata
tr
an
s
m
i
s
s
io
n
m
o
d
el.
T
h
e
Hai
w
ell
P
L
C
tr
a
n
s
m
it
s
s
elec
ted
o
p
er
atio
n
al
v
ar
iab
les
to
t
h
e
Hai
w
e
ll
C
lo
u
d
p
lat
f
o
r
m
t
h
r
o
u
g
h
E
th
er
n
et
co
m
m
u
n
icatio
n
u
s
i
n
g
a
li
g
h
t
w
eig
h
t
i
n
d
u
s
tr
ia
l
co
m
m
u
n
icatio
n
p
r
o
to
co
l
s
u
p
p
o
r
ted
b
y
t
h
e
P
L
C
f
ir
m
w
ar
e.
T
h
e
tr
an
s
m
i
tted
v
ar
iab
les
in
c
lu
d
e
ac
t
u
ato
r
s
tat
u
s
,
o
p
er
atin
g
m
o
d
e,
an
d
c
y
cle
co
u
n
t.
T
h
ese
d
ata
ar
e
v
is
u
ali
ze
d
o
n
th
e
Hai
w
ell
L
i
n
k
d
as
h
b
o
ar
d
,
allo
w
in
g
i
n
s
tr
u
cto
r
s
to
r
e
m
o
tel
y
o
b
s
er
v
e
s
y
s
te
m
ac
ti
v
it
y
d
u
r
in
g
lab
o
r
ato
r
y
s
ess
io
n
s
.
Fro
m
an
ed
u
ca
tio
n
al
p
er
s
p
ec
tiv
e,
I
o
T
in
teg
r
atio
n
allo
w
s
i
n
s
tr
u
cto
r
s
to
m
o
n
ito
r
s
tu
d
e
n
t
ac
tiv
it
ies,
an
al
y
ze
s
y
s
te
m
o
p
er
atio
n
lo
g
s
,
an
d
ev
alu
ate
lear
n
in
g
p
r
o
g
r
ess
w
it
h
o
u
t
d
ir
ec
t
s
u
p
er
v
is
io
n
o
f
ea
ch
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o
r
k
s
tatio
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.
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h
is
ca
p
ab
ilit
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s
u
p
p
o
r
ts
d
ata
-
d
r
iv
en
lear
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i
n
g
ass
es
s
m
en
t
a
n
d
in
tr
o
d
u
ce
s
s
tu
d
e
n
ts
to
th
e
co
n
ce
p
t
o
f
co
n
n
ec
ted
in
d
u
s
tr
ial
s
y
s
te
m
s
co
m
m
o
n
l
y
i
m
p
le
m
e
n
ted
i
n
m
o
d
er
n
I
n
d
u
s
t
r
y
4
.
0
en
v
ir
o
n
m
en
t
s
.
2
.
4
.
F
un
ct
io
na
l t
esting
Fu
n
ctio
n
al
te
s
ti
n
g
w
a
s
co
n
d
u
cted
to
v
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if
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t
h
e
o
p
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atio
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al
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
d
ev
elo
p
ed
P
L
C
–
HM
I
–
I
o
T
p
n
eu
m
atic
tr
ai
n
er
s
y
s
te
m
.
T
h
e
p
u
r
p
o
s
e
o
f
t
h
is
tes
tin
g
s
tag
e
w
as
to
en
s
u
r
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th
at
a
ll
co
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tr
o
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n
s
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s
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d
m
o
n
ito
r
in
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ea
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r
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o
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ated
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r
r
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tly
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n
d
er
d
if
f
er
en
t
o
p
er
atin
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co
n
d
it
io
n
s
.
T
o
en
s
u
r
e
r
ep
r
o
d
u
cib
ilit
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o
f
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h
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t,
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ch
test
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ce
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ar
io
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s
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es
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n
d
e
r
id
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tical
o
p
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atin
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co
n
d
itio
n
s
.
T
h
e
m
ea
s
u
r
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p
ar
a
m
eter
s
i
n
clu
d
e
ac
t
u
ato
r
r
esp
o
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s
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ti
m
e,
s
eq
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e
n
ce
ex
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tio
n
d
elay
,
HM
I
d
is
p
la
y
laten
c
y
,
a
n
d
I
o
T
co
m
m
u
n
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n
d
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.
T
h
e
m
ea
s
u
r
e
m
en
t
s
w
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o
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ed
u
s
i
n
g
s
y
s
te
m
ti
m
e
lo
g
g
in
g
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
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s
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ated
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n
p
er
f
o
r
m
an
ce
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et
w
ee
n
th
e
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L
C
an
d
th
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I
o
T
m
o
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ito
r
in
g
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f
o
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m
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o
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er
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ate
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ata
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s
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i
s
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io
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tab
ilit
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d
co
m
m
u
n
icatio
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d
ela
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h
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tes
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g
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u
lts
w
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al
y
ze
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eter
m
in
e
w
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et
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er
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h
e
s
y
s
te
m
o
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er
ated
ac
co
r
d
in
g
to
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e
in
ten
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ed
d
esig
n
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p
ec
if
icatio
n
s
.
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u
cc
ess
f
u
l
o
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er
atio
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as
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n
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icate
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r
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ec
t
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ato
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en
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ate
HM
I
v
is
u
aliza
tio
n
,
s
tab
le
I
o
T
d
ata
tr
an
s
m
is
s
io
n
,
an
d
co
n
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is
te
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s
y
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te
m
r
esp
o
n
s
e
d
u
r
in
g
r
ep
ea
ted
tr
ials
.
Fig
u
r
e
4
.
Fu
n
c
tio
n
al
te
s
ti
n
g
p
r
o
ce
d
u
r
e
o
f
th
e
P
L
C
–
HM
I
–
I
o
T
p
n
eu
m
atic
tr
ai
n
er
s
y
s
te
m
2
.
5
.
E
du
ca
t
io
na
l e
v
a
lua
t
io
n
T
h
e
ed
u
ca
tio
n
al
ef
f
ec
ti
v
en
e
s
s
o
f
th
e
d
ev
elo
p
ed
P
L
C
–
HM
I
–
I
o
T
p
n
eu
m
atic
tr
ain
er
w
as
ev
alu
a
ted
th
r
o
u
g
h
a
q
u
esti
o
n
n
a
ir
e
d
is
tr
ib
u
ted
to
u
n
d
er
g
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ad
u
ate
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t
u
d
en
ts
w
h
o
p
ar
ticip
ated
in
th
e
l
ab
o
r
ato
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y
lear
n
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ess
io
n
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to
tal
o
f
3
0
s
tu
d
en
ts
w
er
e
in
v
o
l
v
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e
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al
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ati
o
n
p
r
o
ce
s
s
.
T
h
e
q
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esti
o
n
n
air
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w
a
s
d
esig
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ed
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s
i
n
g
a
f
iv
e
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p
o
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L
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o
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is
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r
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tr
al,
ag
r
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an
d
s
t
r
o
n
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l
y
a
g
r
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.
T
h
e
ev
alu
a
tio
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o
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s
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o
n
s
t
u
d
en
t
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p
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ce
p
tio
n
s
o
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t
h
e
tr
ai
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te
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ter
m
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lear
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f
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ess
,
ea
s
e
o
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p
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atio
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,
v
is
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aliza
tio
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clar
it
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d
u
n
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er
s
tan
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i
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g
o
f
p
n
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u
m
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tic
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atio
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co
n
ce
p
t
s
.
T
h
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r
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lts
o
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th
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s
tu
d
e
n
t
ev
a
lu
atio
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ar
e
p
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t
ed
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Fi
g
u
r
e
5
.
T
h
e
m
aj
o
r
ity
o
f
s
t
u
d
en
t
s
ex
p
r
ess
ed
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o
s
iti
v
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r
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o
n
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es
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ar
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th
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elo
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ed
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ain
er
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.
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%
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u
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tr
o
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l
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a
g
r
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d
th
at
th
e
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ain
er
ef
f
ec
tiv
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y
s
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p
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o
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ts
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tiv
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ties
,
w
h
ile
3
3
%
ag
r
ee
d
w
ith
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h
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s
tate
m
en
t.
A
s
m
a
ller
p
o
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ts
(
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p
r
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id
ed
n
eu
tr
al
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a
n
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o
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s
m
a
ll
p
er
ce
n
ta
g
e
i
n
d
icate
d
d
is
ag
r
ee
m
e
n
t.
T
h
ese
r
esu
lt
s
i
n
d
icate
t
h
at
th
e
in
te
g
r
atio
n
o
f
P
L
C
co
n
t
r
o
l,
HM
I
v
is
u
aliza
tio
n
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d
I
o
T
m
o
n
ito
r
in
g
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r
o
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id
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s
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ir
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e
n
t
th
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elp
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e
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ts
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etter
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n
d
er
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tan
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th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
co
n
tr
o
l
lo
g
ic,
s
y
s
te
m
m
o
n
ito
r
in
g
,
an
d
p
n
eu
m
atic
ac
t
u
ato
r
o
p
er
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
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KOM
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elec
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m
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p
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t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
7
9
-
1794
1786
Fig
u
r
e
5
.
Stu
d
en
t e
v
al
u
atio
n
r
esu
lt
s
o
f
t
h
e
d
ev
elo
p
ed
p
n
eu
m
atic
tr
ain
er
s
y
s
te
m
2
.
6
.
P
neu
m
a
t
ic
lea
rning
s
ce
na
rio
T
h
e
im
p
le
m
e
n
tatio
n
o
f
th
e
p
n
eu
m
a
tic
lear
n
i
n
g
s
ce
n
ar
io
s
i
s
d
esig
n
ed
to
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u
p
p
o
r
t
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tep
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by
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s
t
ep
lear
n
in
g
o
b
j
ec
tiv
es
u
s
i
n
g
a
m
o
d
u
lar
P
L
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p
r
o
g
r
a
m
.
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n
s
tead
o
f
cr
ea
ti
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ate
p
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h
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ac
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ex
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io
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teg
r
ated
in
t
o
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co
n
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o
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s
tr
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ct
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th
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n
ar
io
s
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tio
n
p
er
f
o
r
m
e
d
th
r
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u
g
h
th
e
HM
I
in
ter
f
ac
e.
T
h
is
ap
p
r
o
ac
h
r
ed
u
c
es
s
o
f
t
w
ar
e
co
m
p
le
x
it
y
w
h
ile
m
ai
n
tai
n
in
g
lear
n
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n
g
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lex
ib
il
it
y
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n
a
n
ed
u
ca
t
io
n
al
co
n
tex
t.
Op
er
atio
n
al
te
s
ti
n
g
o
f
th
e
s
y
s
te
m
w
as
co
n
d
u
cte
d
o
n
th
e
I
o
T
-
b
ased
P
L
C
–
HM
I
tr
ain
er
f
o
r
t
w
o
-
c
y
li
n
d
er
p
n
eu
m
atic
co
n
tr
o
l,
b
ased
o
n
t
h
e
ti
m
i
n
g
d
iag
r
a
m
s
s
h
o
w
n
in
Fi
g
u
r
e
6
.
T
h
e
P
L
C
f
u
n
ctio
n
s
as
th
e
m
ai
n
co
n
tr
o
ller
ex
ec
u
tin
g
th
e
lad
d
er
p
r
o
g
r
am
to
m
a
n
a
g
e
t
h
e
s
eq
u
en
ce
o
f
m
o
v
e
m
en
t
s
o
f
c
y
l
in
d
er
s
A
an
d
B
,
w
h
ile
th
e
HM
I
is
u
s
ed
as
th
e
in
ter
f
ac
e
f
o
r
s
elec
tin
g
m
an
u
al
an
d
au
to
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at
ic
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o
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es
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ell
as
m
o
n
ito
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n
g
ac
t
u
ato
r
s
tatu
s
i
n
r
ea
l
-
ti
m
e.
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n
m
a
n
u
al
m
o
d
e,
t
h
e
s
y
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te
m
w
a
s
tes
ted
u
s
i
n
g
t
h
e
m
o
v
e
m
e
n
t
s
ce
n
ar
io
s
A
+
A+
an
d
A+
A
–
B
+B
–
as
s
h
o
w
n
in
Fi
g
u
r
es
6
(
a)
an
d
(
b
)
.
Su
b
s
eq
u
e
n
tl
y
,
i
n
a
u
to
m
at
ic
m
o
d
e,
test
i
n
g
w
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s
c
ar
r
ied
o
u
t
b
ased
o
n
th
e
s
eq
u
en
tial
o
r
d
er
s
A
+B
+B
–
A
–
,
A
+B
+(
B
–
A
–
)
,
an
d
B
+A
+B
–
A
–
as
s
h
o
w
n
i
n
F
ig
u
r
es
6
(
c)
to
(
e)
.
A
ll
in
p
u
t/o
u
tp
u
t
s
tat
u
s
e
s
an
d
c
y
li
n
d
er
m
o
v
e
m
e
n
t
s
eq
u
en
ce
s
ar
e
d
is
p
la
y
ed
o
n
th
e
HM
I
an
d
tr
an
s
m
itted
t
h
r
o
u
g
h
th
e
I
o
T
p
latf
o
r
m
f
o
r
r
e
m
o
te
m
o
n
ito
r
in
g
.
(
a)
(
b
)
(
c)
(
d
)
(
e)
F
ig
u
r
e
6
.
Pn
eu
m
a
ti
c
cy
l
in
d
e
r
m
o
v
em
en
t
s
c
en
a
r
i
o
s
in
m
an
u
a
l
a
n
d
au
t
o
m
a
ti
c
m
o
d
e
s
:
(
a
)
A
+A
-
,
(
b
)
A
+A
-
B
+
B
-
,
(
c
)
A
+
B
+
B
-
A
-
,
(
d
)
A
+
B
+
(
B
-
A
-
)
,
(
e
)
B
+A
+
B
-
A
-
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
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n
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o
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Desig
n
a
n
d
imp
leme
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ta
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r
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1787
T
o
ev
alu
ate
t
h
e
s
y
s
te
m
p
er
f
o
r
m
an
ce
an
d
s
u
p
p
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lear
n
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o
f
p
n
eu
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atic
co
n
tr
o
l
b
ased
o
n
P
L
C
,
HM
I
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an
d
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to
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Fi
g
u
r
e
7
.
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ac
h
s
ce
n
ar
io
is
d
esi
g
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ed
to
r
ep
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t
m
a
n
u
al
a
n
d
au
to
m
ati
c
m
o
d
es
w
it
h
d
if
f
er
e
n
t
lear
n
i
n
g
f
o
c
u
s
e
s
,
r
an
g
in
g
f
r
o
m
m
aster
i
n
g
b
asic
co
n
tr
o
l
to
u
n
d
er
s
ta
n
d
in
g
s
eq
u
e
n
tial
l
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g
ic
an
d
s
y
s
te
m
in
teg
r
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.
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h
ese
s
ce
n
ar
io
s
ar
e
s
u
m
m
ar
ized
in
T
ab
le
3
.
Fig
u
r
e
7
.
Har
d
w
ar
e
i
m
p
le
m
en
tatio
n
T
ab
le
3
.
P
n
eu
m
a
tic
c
y
li
n
d
er
m
o
v
e
m
e
n
t sce
n
ar
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S
c
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n
a
r
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M
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i
n
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M
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A
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mat
i
c
A
+
B
+
(
B
-
A
-
)
I
n
t
e
r
l
o
c
k
i
n
g
a
n
d
mo
t
i
o
n
sy
n
c
h
r
o
n
i
z
a
t
i
o
n
e
A
u
t
o
mat
i
c
B
+
A
+
B
-
A
-
F
l
e
x
i
b
l
e
se
q
u
e
n
c
i
n
g
a
n
d
P
L
C
p
r
o
g
r
a
mm
i
n
g
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
ec
tio
n
p
r
ese
n
ts
t
h
e
i
m
p
l
e
m
en
tatio
n
r
es
u
lt
s
an
d
p
er
f
o
r
m
an
ce
e
v
al
u
atio
n
o
f
t
h
e
d
ev
el
o
p
ed
I
o
T
-
b
ased
P
L
C
a
n
d
HM
I
tr
ai
n
e
r
d
esig
n
ed
f
o
r
p
n
e
u
m
atic
c
o
n
tr
o
l
s
y
s
te
m
lear
n
in
g
.
T
h
e
d
ev
elo
p
ed
s
y
s
te
m
in
te
g
r
ates
th
e
P
L
C
co
n
tr
o
l
u
n
i
t,
HM
I
v
is
u
aliza
tio
n
i
n
ter
f
ac
e,
an
d
p
n
eu
m
a
tic
tr
ain
i
n
g
p
an
e
l,
en
ab
lin
g
r
ea
l
-
ti
m
e
s
y
s
te
m
m
o
n
i
to
r
in
g
,
ac
tu
ato
r
co
n
tr
o
l,
an
d
d
ata
co
m
m
u
n
icati
o
n
th
r
o
u
g
h
t
h
e
I
o
T
in
ter
f
ac
e.
E
x
p
er
i
m
e
n
tal
test
i
n
g
w
a
s
co
n
d
u
cted
to
ev
a
lu
ate
th
e
f
u
n
ctio
n
ali
t
y
,
r
eliab
ilit
y
,
an
d
o
p
er
atio
n
al
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
tr
ain
er
s
y
s
te
m
.
T
h
e
te
s
ti
n
g
r
esu
lts
wer
e
an
al
y
ze
d
to
v
er
if
y
t
h
e
co
r
r
ec
t
ex
ec
u
tio
n
o
f
p
n
eu
m
at
ic
co
n
tr
o
l
s
eq
u
e
n
ce
s
,
s
y
s
te
m
r
esp
o
n
s
iv
e
n
es
s
,
an
d
co
m
m
u
n
icatio
n
p
er
f
o
r
m
a
n
ce
.
I
n
ad
d
itio
n
,
th
e
ef
f
ec
ti
v
e
n
es
s
o
f
th
e
tr
ain
er
as
a
p
r
ac
tical
lear
n
in
g
m
ed
iu
m
f
o
r
in
d
u
s
tr
ial
au
to
m
atio
n
an
d
m
ec
h
atr
o
n
ics ed
u
ca
tio
n
i
s
ev
a
lu
at
ed
th
r
o
u
g
h
s
t
u
d
en
t
-
b
ased
lear
n
in
g
as
s
ess
m
e
n
t
s
.
T
h
e
o
b
tain
ed
r
esu
lts
ar
e
f
u
r
t
h
er
d
is
cu
s
s
ed
b
y
r
elat
in
g
t
h
e
m
to
p
r
ev
io
u
s
s
t
u
d
ies
an
d
ex
is
ti
n
g
tr
ain
i
n
g
s
y
s
te
m
s
in
o
r
d
er
to
h
ig
h
li
g
h
t
t
h
e
co
n
tr
ib
u
tio
n
o
f
th
e
p
r
o
p
o
s
ed
t
r
ain
er
in
i
m
p
r
o
v
i
n
g
h
an
d
s
-
o
n
lear
n
i
n
g
e
x
p
er
ien
ce
s
an
d
th
e
in
teg
r
atio
n
o
f
P
L
C
-
b
a
s
ed
co
n
tr
o
l s
y
s
te
m
s
w
it
h
I
o
T
t
ec
h
n
o
lo
g
ies.
3
.
1
.
H
a
rdwa
re
i
m
ple
m
ent
a
t
io
n
T
h
e
h
ar
d
w
ar
e
d
esig
n
o
f
th
e
p
r
o
p
o
s
ed
tr
ain
er
k
it
w
as
d
ev
elo
p
ed
t
o
s
u
p
p
o
r
t
lear
n
in
g
ac
tiv
itie
s
in
p
n
eu
m
atic
co
n
tr
o
l,
P
L
C
p
r
o
g
r
a
m
m
in
g
,
a
n
d
u
n
d
er
s
tan
d
i
n
g
o
f
s
y
s
te
m
i
n
te
g
r
atio
n
.
T
h
e
s
el
ec
tio
n
o
f
h
ar
d
w
ar
e
co
m
p
o
n
e
n
t
s
e
m
p
h
asize
s
ed
u
ca
tio
n
al
s
u
itab
ilit
y
,
m
o
d
u
lar
it
y
,
s
af
et
y
as
p
ec
t
s
,
an
d
ea
s
e
o
f
u
s
e,
r
ath
er
th
a
n
th
e
p
er
f
o
r
m
a
n
ce
r
eq
u
ir
e
m
e
n
ts
o
f
lar
g
e
-
s
ca
le
i
n
d
u
s
tr
ial
s
y
s
te
m
s
.
Su
c
h
d
esi
g
n
co
n
s
id
er
ati
o
n
s
ar
e
co
m
m
o
n
l
y
ap
p
lied
in
au
to
m
atio
n
tr
ain
er
s
y
s
te
m
s
to
ac
h
iev
e
o
p
ti
m
al
lear
n
in
g
o
u
tco
m
es
[
2
2
]
.
T
h
e
m
ai
n
co
m
p
o
n
e
n
t
o
f
t
h
e
t
r
ain
er
k
it
is
t
h
e
Hai
w
el
l
P
L
C
,
w
h
ich
f
u
n
ctio
n
s
as
t
h
e
ce
n
tr
al
co
n
tr
o
l
u
n
i
t.
T
h
is
P
L
C
i
s
eq
u
ip
p
ed
w
it
h
a
s
u
f
f
icie
n
t
n
u
m
b
er
o
f
d
ig
ital
in
p
u
t
a
n
d
o
u
tp
u
t
ch
a
n
n
els
to
s
u
p
p
o
r
t
b
asic
p
n
eu
m
atic
co
n
tr
o
l
ex
p
er
i
m
e
n
ts
,
s
u
c
h
as
s
eq
u
e
n
tial
co
n
tr
o
l
an
d
s
en
s
o
r
-
b
ased
in
ter
l
o
ck
in
g
.
P
L
C
-
b
ase
d
h
ar
d
w
ar
e
p
lat
f
o
r
m
s
ar
e
w
id
e
l
y
u
s
ed
in
ed
u
ca
tio
n
al
lab
o
r
ato
r
ies
b
ec
au
s
e
t
h
e
y
ca
n
r
ep
r
esen
t
r
ea
l
co
n
tr
o
l
s
y
s
te
m
s
w
h
ile
r
e
m
ai
n
i
n
g
ea
s
y
f
o
r
s
tu
d
e
n
ts
to
lear
n
[
2
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
5
,
Octo
b
e
r
20
26
:
1
7
7
9
-
1794
1788
A
Hai
w
ell
HM
I
is
in
te
g
r
ated
to
p
r
o
v
id
e
lo
ca
l
v
is
u
a
lizatio
n
a
n
d
in
ter
ac
tio
n
w
it
h
th
e
s
y
s
te
m
.
T
h
r
o
u
g
h
th
e
HM
I
,
s
tu
d
e
n
ts
ca
n
m
o
n
ito
r
s
y
s
te
m
co
n
d
itio
n
s
,
s
u
c
h
a
s
s
en
s
o
r
s
ta
tu
s
a
n
d
ac
tu
ato
r
p
o
s
i
tio
n
s
,
a
n
d
o
p
er
ate
th
e
tr
ain
er
in
b
o
th
m
an
u
al
an
d
au
to
m
atic
m
o
d
es.
T
h
e
u
s
e
o
f
HM
I
in
ed
u
ca
tio
n
a
l
tr
ain
er
s
h
as
b
ee
n
p
r
o
v
en
to
en
h
a
n
ce
s
t
u
d
en
ts
’
u
n
d
er
s
ta
n
d
in
g
o
f
s
y
s
te
m
m
o
n
ito
r
in
g
co
n
c
ep
ts
an
d
co
n
tr
o
l in
ter
f
ac
es
[
2
4
]
.
T
h
e
p
n
eu
m
atic
s
u
b
s
y
s
te
m
co
n
s
i
s
ts
o
f
p
n
eu
m
atic
c
y
lin
d
er
s
,
s
o
len
o
id
v
alv
es,
an
air
s
u
p
p
ly
u
n
i
t,
an
d
p
o
s
itio
n
s
en
s
o
r
s
.
Do
u
b
le
-
ac
ti
n
g
c
y
li
n
d
er
s
ar
e
u
s
ed
to
d
e
m
o
n
s
tr
ate
t
w
o
-
w
a
y
m
o
tio
n
co
n
tr
o
l,
w
h
i
le
th
e
s
o
len
o
id
v
alv
e
s
ar
e
d
ir
ec
tly
c
o
n
tr
o
lled
b
y
P
L
C
o
u
tp
u
t
s
ig
n
als.
P
o
s
itio
n
s
en
s
o
r
s
ar
e
in
s
t
alled
to
d
etec
t
th
e
ac
tu
ato
r
s
tat
u
s
a
n
d
p
r
o
v
id
e
f
e
ed
b
ac
k
to
th
e
P
L
C
.
T
h
e
u
s
e
o
f
r
ea
l
p
n
eu
m
atic
co
m
p
o
n
en
t
s
allo
w
s
s
tu
d
e
n
ts
to
d
ir
ec
tl
y
o
b
s
er
v
e
th
e
p
h
y
s
ical
r
esp
o
n
s
e
o
f
th
e
s
y
s
te
m
,
wh
ich
i
s
ess
e
n
tial
f
o
r
lear
n
i
n
g
th
e
p
r
in
cip
les
o
f
p
n
eu
m
atic
co
n
tr
o
l
[
2
5
]
.
T
o
s
u
p
p
o
r
t
I
o
T
-
b
ased
m
o
n
i
t
o
r
in
g
i
n
a
n
ed
u
ca
tio
n
al
co
n
tex
t,
t
h
e
tr
ai
n
er
k
it
i
s
eq
u
i
p
p
ed
w
ith
co
m
m
u
n
icatio
n
in
ter
f
ac
e
m
o
d
u
les,
s
u
c
h
as
E
t
h
er
n
e
t
o
r
W
i
-
Fi,
co
n
n
ec
ted
to
t
h
e
P
L
C
.
T
h
ese
m
o
d
u
le
s
en
ab
le
th
e
tr
an
s
m
i
s
s
io
n
o
f
s
elec
ted
s
y
s
te
m
v
ar
iab
les
to
an
I
o
T
p
latf
o
r
m
f
o
r
r
e
m
o
t
e
o
b
s
er
v
at
io
n
.
I
n
ed
u
ca
tio
n
al
ap
p
licatio
n
s
,
th
e
co
m
m
u
n
icati
o
n
m
o
d
u
le
is
m
o
r
e
f
o
cu
s
ed
o
n
s
y
s
te
m
v
is
u
aliza
t
io
n
an
d
lear
n
in
g
ass
e
s
s
m
e
n
t
r
ath
er
th
a
n
p
er
f
o
r
m
a
n
ce
o
p
ti
m
izatio
n
[
2
6
]
.
A
ll
h
ar
d
w
ar
e
co
m
p
o
n
e
n
ts
ar
e
m
o
u
n
ted
o
n
th
e
tr
ain
er
p
an
el
u
s
in
g
clea
r
l
y
lab
eled
ter
m
i
n
als
an
d
co
n
n
ec
to
r
s
to
en
s
u
r
e
s
a
f
et
y
a
n
d
ea
s
e
o
f
o
p
er
atio
n
.
T
h
e
m
o
d
u
lar
la
y
o
u
t
allo
w
s
r
ec
o
n
f
ig
u
r
a
tio
n
o
f
co
m
p
o
n
e
n
ts
ac
co
r
d
in
g
to
th
e
p
r
ac
tical
ex
er
cise
o
b
j
ec
tiv
es.
T
h
is
d
esig
n
a
p
p
r
o
ac
h
is
r
ec
o
m
m
e
n
d
ed
f
o
r
ed
u
ca
tio
n
al
tr
ain
er
s
as it p
r
o
m
o
te
s
f
l
e
x
ib
ilit
y
a
n
d
h
an
d
s
-
o
n
lear
n
i
n
g
[
2
7
]
.
A
ll in
s
t
alled
co
m
p
o
n
e
n
t
s
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
7
.
3
.
2
.
P
L
C
a
nd
H
M
I
s
o
f
t
w
a
re
i
m
ple
m
e
nta
t
io
n
T
h
e
s
o
f
t
w
ar
e
d
esi
g
n
o
f
t
h
e
p
r
o
p
o
s
ed
tr
ain
er
k
it
is
d
e
v
elo
p
ed
to
s
u
p
p
o
r
t
s
tep
-
by
-
s
tep
lear
n
in
g
i
n
P
L
C
p
r
o
g
r
am
m
i
n
g
,
HM
I
o
p
er
atio
n
,
an
d
u
n
d
er
s
ta
n
d
i
n
g
o
f
p
n
e
u
m
atic
co
n
tr
o
l
p
r
in
cip
les.
T
h
e
s
o
f
t
w
ar
e
ar
ch
itec
tu
r
e
e
m
p
h
a
s
izes
s
i
m
p
licit
y
,
m
o
d
u
lar
it
y
,
an
d
clar
it
y
to
s
u
it
t
h
e
ed
u
ca
tio
n
al
en
v
ir
o
n
m
en
t.
E
d
u
ca
tio
n
al
co
n
tr
o
l
s
y
s
te
m
s
g
e
n
er
all
y
ad
o
p
t stru
ct
u
r
ed
s
o
f
t
w
ar
e
d
esi
g
n
to
f
ac
ilit
ate
g
r
ad
u
al
lear
n
i
n
g
an
d
ex
p
er
i
m
e
n
tal
ac
ti
v
itie
s
.
T
h
e
PL
C
s
o
f
tw
ar
e
i
s
d
ev
e
l
o
p
ed
u
s
in
g
t
h
e
L
D
a
p
p
r
o
a
c
h
,
w
h
i
ch
i
s
w
i
d
ely
u
s
e
d
i
n
en
g
in
e
e
r
in
g
e
d
u
c
a
t
i
o
n
d
u
e
t
o
it
s
in
tu
i
tiv
e
r
e
p
r
e
s
e
n
t
a
tio
n
o
f
r
e
l
ay
l
o
g
ic
an
d
s
e
q
u
en
ti
al
c
o
n
t
r
o
l
.
T
h
e
PL
C
p
r
o
g
r
am
is
d
i
v
i
d
e
d
i
n
t
o
s
ev
e
r
al
f
u
n
c
t
i
o
n
al
b
l
o
ck
s
,
in
c
lu
d
in
g
in
p
u
t
p
r
o
c
es
s
in
g
,
s
e
q
u
en
ti
a
l
c
o
n
t
r
o
l
l
o
g
i
c
,
a
c
tu
a
t
o
r
c
o
n
t
r
o
l
,
an
d
s
af
e
ty
i
n
t
e
r
l
o
ck
s
.
M
o
d
u
l
a
r
P
L
C
p
r
o
g
r
am
m
in
g
h
as
b
e
en
s
h
o
w
n
t
o
en
h
an
c
e
s
t
u
d
en
ts
’
u
n
d
e
r
s
ta
n
d
i
n
g
o
f
c
o
n
t
r
o
l
lo
g
i
c
a
s
w
e
ll
as
th
ei
r
a
b
i
l
i
ty
t
o
an
a
ly
z
e
s
y
s
t
em
f
au
l
ts
[
2
8
]
.
T
w
o
m
a
in
o
p
e
r
a
ti
n
g
m
o
d
e
s
a
r
e
im
p
l
em
en
t
e
d
in
th
e
P
L
C
p
r
o
g
r
am
,
n
am
e
ly
m
an
u
a
l
m
o
d
e
a
n
d
au
t
o
m
at
i
c
m
o
d
e
.
I
n
m
an
u
a
l
m
o
d
e
,
s
tu
d
e
n
ts
c
an
d
i
r
e
c
t
ly
c
o
n
t
r
o
l
th
e
p
n
eu
m
a
t
ic
a
c
tu
a
t
o
r
s
t
h
r
o
u
g
h
c
o
m
m
an
d
s
f
r
o
m
th
e
H
M
I
t
o
u
n
d
e
r
s
t
an
d
th
e
r
el
a
t
io
n
s
h
i
p
b
etw
e
en
c
o
n
t
r
o
l
s
ig
n
al
s
an
d
th
e
p
h
y
s
ic
a
l
m
o
v
em
en
t
o
f
a
c
tu
a
t
o
r
s
.
I
n
au
to
m
a
ti
c
m
o
d
e
,
t
h
e
s
y
s
t
em
ex
e
cu
t
es
p
r
e
d
ef
in
e
d
w
o
r
k
s
e
q
u
en
ce
s
b
a
s
e
d
o
n
s
en
s
o
r
f
e
e
d
b
a
ck
,
a
ll
o
w
in
g
s
tu
d
en
ts
t
o
l
e
a
r
n
s
e
q
u
e
n
t
i
al
c
o
n
t
r
o
l
an
d
in
te
r
l
o
c
k
m
e
ch
an
is
m
s
.
T
h
e
im
p
lem
en
t
at
i
o
n
o
f
th
es
e
tw
o
o
p
e
r
a
t
in
g
m
o
d
e
s
is
a
c
o
m
m
o
n
p
e
d
a
g
o
g
ic
a
l
s
t
r
a
te
g
y
u
s
e
d
i
n
au
t
o
m
at
i
o
n
t
r
a
in
e
r
s
y
s
t
em
s
.
A
k
e
y
ed
u
ca
tio
n
al
i
n
n
o
v
atio
n
in
t
h
i
s
s
t
u
d
y
is
t
h
e
i
m
p
le
m
e
n
tatio
n
o
f
a
s
i
n
g
le
m
o
d
u
lar
P
L
C
co
n
tr
o
l
p
r
o
g
r
am
ca
p
ab
le
o
f
h
a
n
d
lin
g
m
u
l
tip
le
p
n
eu
m
atic
lear
n
in
g
s
ce
n
ar
io
s
.
I
n
co
n
v
e
n
tio
n
al
tr
ain
er
s
y
s
te
m
s
,
ea
ch
ex
p
er
i
m
e
n
t
t
y
p
icall
y
r
eq
u
ir
es
a
s
ep
ar
ate
P
L
C
p
r
o
g
r
am
,
w
h
ic
h
in
cr
ea
s
e
s
p
r
o
g
r
am
m
i
n
g
r
ed
u
n
d
an
c
y
a
n
d
d
is
r
u
p
ts
lear
n
i
n
g
co
n
t
in
u
it
y
.
B
y
co
n
tr
ast,
th
e
p
r
o
p
o
s
ed
u
n
if
ie
d
co
n
tr
o
l
s
tr
u
ctu
r
e
allo
w
s
s
ce
n
ar
io
s
w
i
tch
i
n
g
v
ia
HM
I
w
it
h
o
u
t
r
e
w
r
iti
n
g
th
e
P
L
C
p
r
o
g
r
a
m
.
T
h
is
ap
p
r
o
ac
h
p
r
o
v
id
es
s
ev
er
al
co
n
cr
ete
ed
u
c
atio
n
al
ad
v
a
n
tag
e
s
:
(
i)
s
tu
d
e
n
ts
ca
n
a
n
al
y
ze
lo
g
i
c
v
ar
ia
tio
n
s
w
i
th
i
n
o
n
e
s
tr
u
ct
u
r
ed
p
r
o
g
r
a
m
,
(
ii)
d
eb
u
g
g
i
n
g
an
d
f
au
l
t
a
n
al
y
s
is
b
ec
o
m
e
m
o
r
e
s
y
s
te
m
atic
,
(
ii
i)
l
ea
r
n
in
g
p
r
o
g
r
es
s
io
n
f
r
o
m
m
a
n
u
al
to
au
to
m
atic
m
o
d
e
b
ec
o
m
es
co
n
ti
n
u
o
u
s
,
a
n
d
(
iv
)
r
ed
u
ce
d
co
g
n
iti
v
e
lo
ad
co
m
p
ar
ed
to
m
u
lti
-
p
r
o
g
r
a
m
ap
p
r
o
ac
h
es.
T
h
is
m
o
d
u
lar
p
r
o
g
r
a
m
m
in
g
s
tr
ateg
y
e
n
h
an
ce
s
co
n
ce
p
t
u
al
clar
it
y
a
n
d
s
u
p
p
o
r
ts
h
i
g
h
er
-
o
r
d
er
u
n
d
er
s
ta
n
d
in
g
o
f
co
n
tr
o
l
s
y
s
t
e
m
ar
ch
itect
u
r
e.
A
r
ep
r
esen
ta
tiv
e
ex
a
m
p
le
o
f
th
e
P
L
C
p
r
o
g
r
a
m
is
p
r
esen
ted
to
illu
s
tr
ate
t
h
e
co
n
tr
o
l
lo
g
ic
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
in
Fi
g
u
r
e
8
.
T
h
e
HM
I
s
o
f
t
w
ar
e
i
s
d
esi
g
n
ed
to
p
r
o
v
id
e
clea
r
s
y
s
te
m
co
n
d
it
io
n
v
i
s
u
a
lizatio
n
an
d
u
s
er
in
ter
ac
tio
n
.
T
h
e
HM
I
in
ter
f
ac
e
d
is
p
la
y
s
r
ea
l
-
ti
m
e
i
n
f
o
r
m
atio
n
s
u
c
h
as
s
en
s
o
r
s
tat
u
s
,
ac
t
u
ato
r
p
o
s
itio
n
s
,
a
n
d
th
e
s
y
s
te
m
o
p
er
atin
g
m
o
d
e.
I
n
ad
d
itio
n
,
co
n
tr
o
l
b
u
t
to
n
s
f
o
r
s
tar
t,
s
to
p
,
an
d
m
o
d
e
s
elec
tio
n
ar
e
p
r
o
v
id
ed
,
alo
n
g
w
i
th
a
n
alar
m
d
i
s
p
la
y
.
Vis
u
aliza
t
io
n
t
h
r
o
u
g
h
t
h
e
HM
I
in
ter
f
ac
e
ca
n
en
h
a
n
ce
s
t
u
d
en
t
s
’
u
n
d
er
s
ta
n
d
i
n
g
o
f
s
y
s
te
m
b
eh
a
v
io
r
an
d
s
u
p
p
o
r
t
in
ter
ac
tiv
e
lear
n
i
n
g
.
A
r
ep
r
esen
tati
v
e
HM
I
in
ter
f
ac
e
i
s
p
r
esen
ted
to
ill
u
s
t
r
ate
th
e
m
o
n
ito
r
in
g
an
d
co
n
tr
o
l
f
u
n
ctio
n
s
i
m
p
le
m
e
n
ted
in
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
in
Fi
g
u
r
e
9
.
I
n
ad
d
itio
n
to
co
n
tr
o
l
an
d
v
i
s
u
aliza
tio
n
f
u
n
ctio
n
s
,
t
h
e
s
o
f
t
w
ar
e
d
esi
g
n
also
in
teg
r
ate
s
b
asic
d
ata
co
m
m
u
n
icatio
n
f
u
n
ctio
n
alit
y
to
s
u
p
p
o
r
t
I
o
T
-
b
ased
m
o
n
ito
r
in
g
i
n
an
ed
u
ca
tio
n
al
co
n
te
x
t.
C
er
tai
n
s
y
s
te
m
v
ar
iab
les,
s
u
c
h
as
c
y
cle
co
u
n
t
an
d
ac
tu
ato
r
s
tatu
s
,
ar
e
tr
an
s
m
itted
to
an
ex
ter
n
al
m
o
n
ito
r
in
g
p
lat
f
o
r
m
.
T
h
is
f
ea
t
u
r
e
en
ab
les
i
n
s
tr
u
cto
r
s
an
d
s
tu
d
en
t
s
to
o
b
s
er
v
e
th
e
s
y
s
te
m
r
e
m
o
tel
y
a
n
d
s
u
p
p
o
r
ts
le
ar
n
in
g
as
s
es
s
m
e
n
t.
Th
e
I
o
T
-
b
ased
m
o
n
ito
r
in
g
i
n
ter
f
ac
e
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
ill
u
s
tr
ated
in
Fi
g
u
r
e
10
.
I
n
ed
u
ca
tio
n
al
ap
p
licatio
n
s
,
th
e
I
o
T
f
u
n
ct
io
n
alit
y
is
m
o
r
e
f
o
cu
s
ed
o
n
v
i
s
u
aliza
tio
n
a
n
d
m
o
n
i
to
r
in
g
r
ath
er
th
a
n
r
ea
l
-
ti
m
e
co
n
tr
o
l o
p
tim
izatio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.